Title :
MAV control system design based on virtual instrument
Author :
Lingling Wang ; Li Fu ; Chengyu Feng
Author_Institution :
Autom. Sci. & Electron. Eng. Dept., Beihang Univ., Beijing, China
Abstract :
A new design scheme of micro Rotorcraft Unmanned Aerial Vehicle (MRUAV) control system based on Virtual Instrument (VI) is developed in this paper. The control platform constructed by NI CompactRIO (a VI device) is used to realize the flight data acquisition, control algorithm design and control command transmission instead of the conventional flight controller. Considering the inaccuracy of the mathematical model and the adverse influence of high-frequency vibration, the Active Disturbance Rejection Controller (ADRC) not relying on the accurate mathematical model of controlled plant is selected as the control algorithm. The suitable ADRC parameters are recognized through successive approximation with the help of the online debugging function of VI. Finally, Flight experiments show the validity of the control system.
Keywords :
active disturbance rejection control; autonomous aerial vehicles; control engineering computing; control system synthesis; helicopters; microrobots; mobile robots; virtual instrumentation; ADRC; MRUAV control system design; VI; active disturbance rejection controller; microrotorcraft unmanned aerial vehicle; virtual instrument; Algorithm design and analysis; Brushless motors; Control systems; Engines; Nickel; Pulse width modulation; Rotors;
Conference_Titel :
Guidance, Navigation and Control Conference (CGNCC), 2014 IEEE Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4799-4700-3
DOI :
10.1109/CGNCC.2014.7007269
